`OpenControl.ADP_control.system`¶

Module Contents¶

Classes¶

`LTI`	This class present state-space LTI system.
`NonLin`	This class represent non-linear system by `ODEs`.

class OpenControl.ADP_control.system.LTI(A, B, C=1, D=0)¶

This class present state-space LTI system.

dimension¶

(n_state, n_input).

Type: tuple

model¶

{A, B, C, D, dimension}.

Type: dict

max_step¶

define max step for ODEs solver algorithms. Defaults to 1e-3.

Type: float, optional

algo¶

RK45, RK23 or DOP853 . Defaults to ‘RK45’.

Type: str, optional

t_sim¶

time for simualtion (start, stop). Defaults to (0,10).

Type: tuple, optional

x0¶

the initial state. Defaults to np.ones((n,)).

Type: 1xn array, optional

sample_time¶

the sample time. Defaults to 1e-2.

Type: float, optional

_check_model(self)¶

setSimulationParam(self, max_step=0.001, algo='RK45', t_sim=(0, 10), x0=None, sample_time=0.01)¶

Run this function before any simulations

Parameters

max_step (float, optional) – define max step for ODEs solver algorithms. Defaults to 1e-3.
algo (str, optional) – RK45, RK23 or DOP853 . Defaults to ‘RK45’.
t_sim (tuple, optional) – time for simualtion (start, stop). Defaults to (0,10).
x0 (1xn array, optional) – the initial state. Defaults to np.ones((n,)).
sample_time (float, optional) – the sample time. Defaults to 1e-2.

integrate(self, x0, u, t_span)¶

class OpenControl.ADP_control.system.NonLin(dot_x, dimension)¶

This class represent non-linear system by ODEs.

dot_x¶

the dx/dt function, return 1D array output

Type: func(t,x,u)